console_j2000tracker.c 14.8 KB
Newer Older
Jeroen Vreeken's avatar
Jeroen Vreeken committed
1
2
3
/*
	Command generator for J2000.0 positions

4
	Copyright Jeroen Vreeken (pe1rxq@amsat.org), 2008, 2011, 2013, 2014
Jeroen Vreeken's avatar
Jeroen Vreeken committed
5
	Copyright Stichting C.A. Muller Radioastronomiestation, 2008, 2011, 2013
Jeroen Vreeken's avatar
Jeroen Vreeken committed
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39

	This program is free software: you can redistribute it and/or modify
	it under the terms of the GNU General Public License as published by
	the Free Software Foundation, either version 3 of the License, or
	(at your option) any later version.

	This program is distributed in the hope that it will be useful,
	but WITHOUT ANY WARRANTY; without even the implied warranty of
	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
	GNU General Public License for more details.

	You should have received a copy of the GNU General Public License
	along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#include <time.h>
#include <sys/time.h>
#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include <string.h>
#include <fcntl.h>
#include <termios.h>
#include <signal.h>
#include <ctype.h>
#include <inttypes.h>
#include <arpa/inet.h>
#include <sys/select.h>
#include <sys/ioctl.h>
#include <errno.h>
#include <stdbool.h>

Jeroen Vreeken's avatar
Jeroen Vreeken committed
40
41
42
43
44
45
#include <libnova/transform.h>
#include <libnova/julian_day.h>
#include <libnova/utility.h>
#include <libnova/aberration.h>
#include <libnova/precession.h>
#include <libnova/refraction.h>
Jeroen Vreeken's avatar
Jeroen Vreeken committed
46

47
48
#include <command/command.h>

Jeroen Vreeken's avatar
Jeroen Vreeken committed
49
50
51
52
53
54
55
56
#include <utils/weather.h>
#include <utils/dt_model.h>
#include <trace/trace.h>
#include <dt_port_numbers.h>
#include <utils/command_server.h>
#include <utils/status_server.h>
#include <utils/dt_host.h>
#include <log/log.h>
57

Jeroen Vreeken's avatar
Jeroen Vreeken committed
58
59
60
61
62
63
64
65
66
67
68
69
70
71

#define TIME_OFFSET 2

char *command_host = "localhost";
int command_port = CONSOLE_COMMAND_PORT;
char *trace_host = "localhost";
int trace_port = CONSOLE_TRACE_PORT;
int stat_port = CONSOLE_J2000_POS_PORT;
int cmd_port = CONSOLE_J2000_CMD_PORT;
char *az_command_spg = "Azimuth_Setpoint";
char *el_command_spg = "Elevation_Setpoint";
char *az_trace_name = "Azimuth_Position";
char *el_trace_name = "Elevation_Position";

Jeroen Vreeken's avatar
Jeroen Vreeken committed
72
73
74
75
76
77
static bool tracking_command_send_p180 = false;
static bool tracking_command_last_az_valid = false;
static float tracking_command_last_az = 0;


bool tracking_enabled = false;
78
79
bool refraction_enable = true;
bool dt_model_enable = false;
Jeroen Vreeken's avatar
Jeroen Vreeken committed
80
81
82
83
84
85
86

struct compensation_switch {
	char *name;
	bool *value;
};

struct compensation_switch compensation_switches[] = {
Jeroen Vreeken's avatar
Jeroen Vreeken committed
87
	{ "enabled", &tracking_enabled },
Jeroen Vreeken's avatar
Jeroen Vreeken committed
88
89
90
91
92
93
94
	{ "refraction", &refraction_enable },
	{ "dt_model", &dt_model_enable },
	{ NULL, NULL }
};

struct weather *weather;

Jeroen Vreeken's avatar
Jeroen Vreeken committed
95
96
struct trace *traceval_az;
struct trace *traceval_el;
Jeroen Vreeken's avatar
Jeroen Vreeken committed
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
float traceval_az_deg;

struct lnh_lnlat_posn dwingeloo;
struct ln_lnlat_posn dwingeloo_pos;
struct ln_equ_posn object;
struct ln_equ_posn object_prec;
struct ln_equ_posn object_aber;
struct ln_hms track_hms;
struct ln_dms track_dms;




void a2coord(char *ara, char *adec, struct ln_hms *ra, struct ln_dms *dec)
{
	int i, neg;

	if (strlen(adec) && adec[0] == '-') {
		dec->neg = 1;
		i = 1;
	} else {
		dec->neg = 0;
		i = 0;
	}
	dec->degrees = 0;
	dec->minutes = 0;
	dec->seconds = 0.0;
	
	for (; isdigit(adec[i]) && i < strlen(adec); i++) {
		dec->degrees *= 10;
		dec->degrees += adec[i] - '0';
	}
	for (i++; isdigit(adec[i]) && i < strlen(adec); i++) {
		dec->minutes *= 10;
		dec->minutes += adec[i] - '0';
	}
	i++;
	if (i < strlen(adec)) {
		dec->seconds = atof(adec + i);
	}
	
	ra->hours = 0;
	ra->minutes = 0;
	ra->seconds = 0.0;
	
	if (strlen(ara) && ara[0] == '-') {
		neg = -1;
		i = 1;
	} else {
		neg = 1;
		i = 0;
	}
	for (; isdigit(ara[i]) && i < strlen(ara); i++) {
		ra->hours *= 10;
		ra->hours += (ara[i] - '0') * neg;
	}
	for (i++; isdigit(ara[i]) && i < strlen(ara); i++) {
		ra->minutes *= 10;
		ra->minutes += (ara[i] - '0') * neg;
	}
	i++;
	if (i < strlen(ara)) {
		ra->seconds = atof(ara + i) * neg;
	}
	if (neg < 0) {
		ra->hours += 24;
		ra->minutes += 60;
		ra->seconds += 60.0;
	}
}

168
int handle_cmd(char *command)
Jeroen Vreeken's avatar
Jeroen Vreeken committed
169
170
{
	char *ara, *adec, *switches, *ptr;
Jeroen Vreeken's avatar
Jeroen Vreeken committed
171
	double oldra, olddec;
Jeroen Vreeken's avatar
Jeroen Vreeken committed
172
	
173
	ara = strtok_r(command, " \t", &ptr);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
174
175
176
177
	adec = strtok_r(NULL, " \t", &ptr);
	switches = strtok_r(NULL, " \t", &ptr);
	
	if (!ara || !adec)
178
		return -1;
Jeroen Vreeken's avatar
Jeroen Vreeken committed
179
180
181
182
183
184
	
	while (adec[strlen(adec)-1] == '\n' ||
	    adec[strlen(adec)-1] == '\r')
		adec[strlen(adec)-1] = 0;
	
	a2coord(ara, adec, &track_hms, &track_dms);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
185
186
	oldra = object.ra;
	olddec = object.dec;
Jeroen Vreeken's avatar
Jeroen Vreeken committed
187
188
189
	object.ra = ln_hms_to_deg(&track_hms);
	object.dec = ln_dms_to_deg(&track_dms);
	
190
191
192
	if (oldra != object.ra || olddec != object.dec) {
		log_send(LOG_T_INFO, "New J2000 coordinates: ra=%f, dec=%f",
		    object.ra, object.dec);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
193
		tracking_command_last_az_valid = false;
194
	}
Jeroen Vreeken's avatar
Jeroen Vreeken committed
195
	
Jeroen Vreeken's avatar
Jeroen Vreeken committed
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
	if (switches) {
		char *name, *val;
		int i;
		name = strtok_r(switches, ",=", &ptr);
		val = strtok_r(NULL, ",=", &ptr);
		for (i = 0; compensation_switches[i].name; i++) {
			if (!strcmp(name, compensation_switches[i].name)) {
				if (val[0] == '1') {
					*compensation_switches[i].value = true;
				} else {
					*compensation_switches[i].value = false;
				}
			}
		}
	}
211
	return 0;
Jeroen Vreeken's avatar
Jeroen Vreeken committed
212
213
}

214
void output(struct status_server *stat_srv)
Jeroen Vreeken's avatar
Jeroen Vreeken committed
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
{
	static time_t last = 0;
	time_t now;
	struct ln_hrz_posn hrz;
	struct ln_date date;
	double JD;
	struct ln_equ_posn equ_pos, equ_pos_prec, equ_pos_aber;
	struct ln_hms hms;
	struct ln_dms dms;
	char statline[200];
	int ret, i;
	char *statlinepos;
	int do_output = 1;
	double pressure, temperature, alt_adj;
	
230
231
232
	if (traceval_az->value.t.tv_sec != traceval_el->value.t.tv_sec) {
		do_output = 0;
	}
Jeroen Vreeken's avatar
Jeroen Vreeken committed
233
	now = traceval_az->value.t.tv_sec;
Jeroen Vreeken's avatar
Jeroen Vreeken committed
234
	
235
	if (now <= last) {
Jeroen Vreeken's avatar
Jeroen Vreeken committed
236
		do_output = 0;
237
	}
Jeroen Vreeken's avatar
Jeroen Vreeken committed
238
239
	
	if (do_output == 0) {
Jeroen Vreeken's avatar
Jeroen Vreeken committed
240
		return;
Jeroen Vreeken's avatar
Jeroen Vreeken committed
241
242
243
244
	} else {
		last = now;
	}
	
Jeroen Vreeken's avatar
Jeroen Vreeken committed
245
	hrz.az = traceval_az->value.value.f * 360.0 / (2*M_PI);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
246
	traceval_az_deg = hrz.az;
Jeroen Vreeken's avatar
Jeroen Vreeken committed
247
	hrz.alt = traceval_el->value.value.f * 360.0 / (2*M_PI);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
248
	
Jeroen Vreeken's avatar
Jeroen Vreeken committed
249
	ln_get_date_from_timet(&now, &date);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
	JD = ln_get_julian_day(&date);

	if (dt_model_enable) {
		double daz, del;
				
		daz = dt_model_azimuth_delta_rev(hrz.az, hrz.alt);
		del = dt_model_elevation_delta_rev(hrz.az, hrz.alt);
		printf("rev(%f, %f): %g %g\n", hrz.az, hrz.alt, daz, del);
		hrz.az += daz;
		hrz.alt += del;
	}

	if (refraction_enable) {
		/* Get current weather */
		temperature = weather_get_temperature(weather);
		pressure = weather_get_pressure(weather);
		/* Refraction adjustment */
		alt_adj = ln_get_refraction_adj(hrz.alt, pressure, temperature);
		printf("Refraction: %f @ %fC,%fmbar\n", -alt_adj, temperature, pressure);
		hrz.alt -= alt_adj;
	}
	
Jeroen Vreeken's avatar
Jeroen Vreeken committed
272
273
274
275
	/* libnova can't handle anything above 90.0 */
	if (hrz.alt > 90.0)
		hrz.alt = 90.0;

Jeroen Vreeken's avatar
Jeroen Vreeken committed
276
277
278
	ln_get_equ_from_hrz (&hrz, &dwingeloo_pos, JD, &equ_pos_prec);
	/* Calculate inverse precession */
	ln_get_equ_prec2(&equ_pos_prec, JD, JD2000, &equ_pos_aber);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
279
	ln_get_equ_mean_from_aber(&equ_pos_aber, JD, &equ_pos);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296

	ln_deg_to_hms(equ_pos.ra, &hms);
	ln_deg_to_dms(equ_pos.dec, &dms);

	printf("Trace  %f %f : %02dh%02dm%04.1f %s%03dd%02dm%04.1f\n",
	    hrz.az, hrz.alt,
	    hms.hours, hms.minutes, hms.seconds,
	    dms.neg ? "-" : " ", dms.degrees, dms.minutes, dms.seconds);

	ret = sprintf(statline, 
	    "%02dh%02dm%04.1f %s%03dd%02dm%04.1f %02dh%02dm%04.1f %s%03dd%02dm%04.1f %ld ",
	    track_hms.hours, track_hms.minutes, track_hms.seconds,
	    track_dms.neg ? "-" : "", 
	    track_dms.degrees, track_dms.minutes, track_dms.seconds,
	    hms.hours, hms.minutes, hms.seconds,
	    dms.neg ? "-" : "",
	    dms.degrees, dms.minutes, dms.seconds,
Jeroen Vreeken's avatar
Jeroen Vreeken committed
297
	    (unsigned long)now);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
298
299
300
301
302
303
304
305
306
307
308
309
310
311
	statlinepos = statline + ret;
	for (i = 0; compensation_switches[i].name; i++) {
		if (i) {
			ret = sprintf(statlinepos, ",");
			statlinepos += ret;
		}
		ret = sprintf(statlinepos,
		    "%s=%d",
		    compensation_switches[i].name,
		    *compensation_switches[i].value);
		statlinepos += ret;
	}
	sprintf(statlinepos, "\n");

312
	status_server_send(stat_srv, statline);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
313
314
}

315
316
static void handler_interval(struct trace *trace, 
    struct timespec *interval, enum trace_interval_type type)
Jeroen Vreeken's avatar
Jeroen Vreeken committed
317
{
318
	printf("interval:  %ld.%09ld\n", interval->tv_sec, interval->tv_nsec);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
319
320
321
}


Jeroen Vreeken's avatar
Jeroen Vreeken committed
322
323
int main(int argc, char **argv)
{
324
325
	struct command *sp_command_az = NULL;
	struct command *sp_command_el = NULL;
326
	struct command_server *cmd_srv;
327
	struct status_server *stat_srv;
Jeroen Vreeken's avatar
Jeroen Vreeken committed
328
	time_t lastt = 0;
329
	struct timespec t_int;
Jeroen Vreeken's avatar
Jeroen Vreeken committed
330

331
332
	dt_model_init();

Jeroen Vreeken's avatar
Jeroen Vreeken committed
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
	printf("libnova version: %s\n", ln_get_version());

	dwingeloo.lng.neg = 0;
	dwingeloo.lng.degrees = 6;
	dwingeloo.lng.minutes = 23;
	dwingeloo.lng.seconds = 46.21;
	dwingeloo.lat.neg = 0;
	dwingeloo.lat.degrees = 52;
	dwingeloo.lat.minutes = 48;
	dwingeloo.lat.seconds = 43.27;
	ln_hlnlat_to_lnlat(&dwingeloo, &dwingeloo_pos);

	track_hms.hours = 23;
	track_hms.minutes = 23;
	track_hms.seconds = 26;
	track_dms.neg = 0;
	track_dms.degrees = 58;
	track_dms.minutes = 48;
	track_dms.seconds = 0.0;

	signal(SIGPIPE, SIG_IGN);

355
356
357
	log_client_start(dt_host_console(), CONSOLE_LOG_PORT_IN, 
	    LOG_T_DEBUG, LOG_T_INFO, "console/j2000tracker");

Jeroen Vreeken's avatar
Jeroen Vreeken committed
358
359
360
361
362
363
364
365
366
367
368
369
370
371
	if (argc == 2 || argc == 4) {
		command_host = argv[argc - 1];
		trace_host = argv[argc - 1];
	}
	if (argc == 3 || argc == 4) {
		printf("Coords from command line\n");
		a2coord(argv[1], argv[2], &track_hms, &track_dms);
	}
	object.ra = ln_hms_to_deg(&track_hms);
	object.dec = ln_dms_to_deg(&track_dms);

	ln_deg_to_hms(object.ra, &track_hms);
	ln_deg_to_dms(object.dec, &track_dms);

Jeroen Vreeken's avatar
Jeroen Vreeken committed
372
	do {
373
374
375
		sp_command_az = command_open_simple(command_host, command_port,
		    az_command_spg, "console/j2000tracker",
		    COMMAND_VALUE_TYPE_FLOAT);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
376
377
378
379
380
381
		if (!sp_command_az) {
			printf("Could not open connection for az commands\n");
			sleep(1);
		}
	} while (!sp_command_az);
	do {
382
383
384
		sp_command_el = command_open_simple(command_host, command_port,
		    el_command_spg, "console/j2000tracker",
		    COMMAND_VALUE_TYPE_FLOAT);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
385
386
387
388
389
390
		if (!sp_command_el) {
			printf("Could not open connection for el commands\n");
			sleep(1);
		}
	} while (!sp_command_el);
	
Jeroen Vreeken's avatar
Jeroen Vreeken committed
391
392
	traceval_az = trace_open(trace_host, trace_port);
	traceval_el = trace_open(trace_host, trace_port);
393
394
	trace_name_set(traceval_az, 0, az_trace_name);
	trace_name_set(traceval_el, 0, el_trace_name);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
395
396
	trace_autorecover(traceval_az, true);
	trace_autorecover(traceval_el, true);
397
398
399
400
401
	traceval_az->handler_interval = handler_interval;
	traceval_el->handler_interval = handler_interval;

	t_int.tv_sec = 1;
	t_int.tv_nsec = 0;
402
403
	trace_interval_set(traceval_az, &t_int, TRACE_INTERVAL_TYPE_INTERVAL);
	trace_interval_set(traceval_el, &t_int, TRACE_INTERVAL_TYPE_INTERVAL);
404

Jeroen Vreeken's avatar
Jeroen Vreeken committed
405

406
407
	cmd_srv = command_server_create(cmd_port, 0, 100);
	if (!cmd_srv) {
Jeroen Vreeken's avatar
Jeroen Vreeken committed
408
409
		printf("Could not open listen port for commands\n");
	} else {
410
		command_server_handler_raw_set(cmd_srv, handle_cmd);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
411
	}
412
413
	stat_srv = status_server_create(stat_port, 0, 100);
	if (!cmd_srv) {
Jeroen Vreeken's avatar
Jeroen Vreeken committed
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
		printf("Could not open listen port for status\n");
	}

	weather = weather_create("Dwingeloo");
	if (!weather) {
		fprintf(stderr, "Could not create weather handle\n");
		exit(-1);
	}

	while (1)
	{
		time_t t;
		struct ln_date date;
		double JD;
		struct ln_hrz_posn hrz;
		int high = 0;
		fd_set fdset_rx;
		struct timeval tv;
		double pressure, temperature;
		double alt_adj;
		
		t = time(NULL);
		if (t != lastt) {
			lastt = t;
			t += TIME_OFFSET;
		
			ln_get_date_from_timet(&t, &date);
			JD = ln_get_julian_day(&date);

			/* Calculate aberration */
			ln_get_equ_aber(&object, JD, &object_aber);
			/* Calculate precession */
			ln_get_equ_prec(&object_aber, JD, &object_prec);
			/* Convert to Alt/Az */
			ln_get_hrz_from_equ (&object_prec, &dwingeloo_pos, JD, &hrz);

			if (refraction_enable) {
				/* Get current weather */
				temperature = weather_get_temperature(weather);
				pressure = weather_get_pressure(weather);
				/* Refraction adjustment */
				alt_adj = ln_get_refraction_adj(hrz.alt, pressure, temperature);
				printf("Refraction: %f @ %fC,%fmbar\n", alt_adj, temperature, pressure);
				hrz.alt += alt_adj;
			}
			
			/* libnova has an az range from 0 to 360 with 0 being South.
			   Dwingeloo has an az range from -270 to 270 with 0 being South
			   
			   Stars that stay north of dwingeloo (incl circumpolar)
			   can be tracked in either positive or negative north.
			   So we take the nearest.
			   Other stars pass through south.
			 */
			printf("dec: %f Dwingeloo lat: %f => ",
			    object.dec, dwingeloo_pos.lat);
			if (object.dec > dwingeloo_pos.lat) {
				printf("Always north of zenith\n");
				if (traceval_az_deg < 0.0)
					hrz.az -= 360.0;
			} else {
				printf("Passes south of zenith\n");
Jeroen Vreeken's avatar
Jeroen Vreeken committed
476
477
478
479
480
481
482
483
484
485
				if (hrz.az > 180.0) {
					if (traceval_az_deg > 150.0 &&
					    hrz.az < 270.0) {
						printf("Stay on positive side to prevent jump\n");
					} else {
						if (traceval_az_deg > 180.0 &&
						    hrz.az > 270.0 &&
						    tracking_command_send_p180 &&
						    tracking_enabled) {
							tracking_enabled = false;
486
487
							log_send(LOG_T_WARNING,
							    "Going over 270 degree border, disabling");
Jeroen Vreeken's avatar
Jeroen Vreeken committed
488
489
490
491
492
493
494
495
496
497
						}
						hrz.az -= 360.0;
					}
				} else {
					if (traceval_az_deg < -150.0 &&
					    hrz.az >= 90.0) {
						printf("Already on negative side, stay there\n");
						hrz.az -= 360.0;
					}
				}
Jeroen Vreeken's avatar
Jeroen Vreeken committed
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
			}
			
			if (dt_model_enable) {
				double daz, del;
				
				daz = dt_model_azimuth_delta(hrz.az, hrz.alt);
				del = dt_model_elevation_delta(hrz.az, hrz.alt);
				printf("model: %g %g\n", daz, del);
				hrz.az += daz;
				hrz.alt += del;
			}

			printf("Setpoint: %02dh%02dm%04.1f %s%03dd%02dm%04.1f %d %f %f\n",
			    track_hms.hours, track_hms.minutes, track_hms.seconds,
			    track_dms.neg ? "-" : " ",
			    track_dms.degrees, track_dms.minutes, track_dms.seconds,
			    (unsigned int)t, hrz.az, hrz.alt);

Jeroen Vreeken's avatar
Jeroen Vreeken committed
516
517
			if (tracking_enabled && tracking_command_last_az_valid) {
				if (fabs(hrz.az - tracking_command_last_az) > 1.0) {
518
519
					struct command_entry entry;
					
520
521
					log_send(LOG_T_WARNING,
					    "Az going to fast to track (%e), disable tracking",
Jeroen Vreeken's avatar
Jeroen Vreeken committed
522
523
					    fabs(hrz.az-tracking_command_last_az));
					tracking_enabled = false;
524
525
526
527
528
					
					entry.type = COMMAND_PTYPE_SPEED;
					entry.value.f = 0.0;
					command_send(sp_command_az, &entry);
					command_send(sp_command_el, &entry);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
529
530
531
532
				}
			}

			if (tracking_enabled) {
533
534
				struct command_entry entry;
				
Jeroen Vreeken's avatar
Jeroen Vreeken committed
535
536
				if (hrz.az > 180.0)
					tracking_command_send_p180 = true;
537
538
539
540
541
542
543
544
				
				entry.type = COMMAND_PTYPE_SETPOINT_TIME;
				entry.t.tv_sec = t;
				entry.t.tv_nsec = 0;
				entry.value.f = hrz.az * 2 * M_PI / 360.0;
				command_send(sp_command_az, &entry);
				entry.value.f = hrz.alt * 2 * M_PI / 360.0;
				command_send(sp_command_el, &entry);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
545
546
547
548
549
550
551
552

				tracking_command_last_az_valid = true;
				tracking_command_last_az = hrz.az;
			} else {
				tracking_command_send_p180 = false;
				tracking_command_last_az_valid = false;
				tracking_command_last_az = 0.0;
			}
Jeroen Vreeken's avatar
Jeroen Vreeken committed
553
554
555
556
		}

		FD_ZERO(&fdset_rx);
	
557
		status_server_fdset_add(stat_srv, &fdset_rx, &high);
558
		command_server_fdset_add(cmd_srv, &fdset_rx, &high);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
559
560
		trace_fd_set(traceval_el, &fdset_rx, &high);
		trace_fd_set(traceval_az, &fdset_rx, &high);
561

Jeroen Vreeken's avatar
Jeroen Vreeken committed
562
563
564
		tv.tv_sec = 1;
		tv.tv_usec = 0;

Jeroen Vreeken's avatar
Jeroen Vreeken committed
565
		select(high + 1, &fdset_rx, NULL, NULL, &tv);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
566

Jeroen Vreeken's avatar
Jeroen Vreeken committed
567
568
		trace_handle(traceval_az, &fdset_rx);
		trace_handle(traceval_el, &fdset_rx);
569

570
		command_server_fdset_handle(cmd_srv, &fdset_rx);
571
		status_server_fdset_handle(stat_srv, &fdset_rx);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
572
		
573
		output(stat_srv);
Jeroen Vreeken's avatar
Jeroen Vreeken committed
574
575
576
	}

}